subsumption embedded systems lecture #2grupen/503/slides/503...embedded systems lecture #2...
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Laboratory for Perceptual Robotics – Department of Computer Science
Embedded SystemsLecture #2
Supervisory Control Architectures
2Laboratory for Perceptual Robotics – Department of Computer Science
Subsumption
3Laboratory for Perceptual Robotics – Department of Computer Science
Finite State Supervisors
MIT Leg Lab – Marc Raibert (circa 1995)
Hopping Machines – Dynamics and Control
4Laboratory for Perceptual Robotics – Department of Computer Science
Dynamics, Decision, and Control
MIT Leg Lab – Marc Raibert, Gill Pratt
5Laboratory for Perceptual Robotics – Department of Computer Science
Communication and Coordinated Action
if robot j is seeking an external goal:
“pull” relationφ
jφ
ig g(j)
“push” relation
φjφ
jg g(i) world
robot jφ LOS(j)
robot iφ world
robot iφ
• Moore-Penrose (null space) operator to mediate control interactions
6Laboratory for Perceptual Robotics – Department of Computer Science
Finite State Supervisors and Concurrent Control
φ φalert φbitefoodRND
nestφ
1XXX X111
p = [nest food alert bite]
swarm simulation
Attack/RepelOecophylla longinoda(African weaver ant)
2-Butyl-2-octenal(bite)
3-Undecanone(attract/bite)
1-Hexanol(attract)
Hexanal(alert)
1 cm
small:~grupen/C/ants/x
7Laboratory for Perceptual Robotics – Department of Computer Science
Example: ROTATE schema
8Laboratory for Perceptual Robotics – Department of Computer Science
Integrated Behavior
4 states, 2 actions
Twist control (R3) with two choices for the“effector”
• ROTATE schema• STEP schema
Laboratory for Perceptual Robotics – Department of Computer Science
Extension to Irregular Terrain
10Laboratory for Perceptual Robotics – Department of Computer Science
Bimanual Motor Sequences
φg
φgφK
φgφT
φgφg’
φg’
Laboratory for Perceptual Robotics – Department of Computer Science
Dexter’s Bimanual Grasp Null Space MDP